You can constantly send binary data through this port (joint values) and the robot will move. I’m sending you a small toolbox for Matlab that lets you control Rokisim and play simulations. This is also the way that Robtargets/Paths work in Rokisim.

It would not be difficult to do something similar using C++.

You can start by trying to copy the next table and paste it to rokisim (to paste it, select the body of main mindow and press CTRL+V):
(it also works from an excel sheet)
0 -90 90 0 0 0
10 -80 100 40 50 60
40 -70 110 70 80 90
-40 -10 50 20 -100 -150
You can control the simulation using the simulation panel (F5).

If you have one or more objects, the first object will be placed at the base frame (work object).
If instead of instruction 4, you send instruction 4.01, this will place the second object, if it is 4.02, the third, etc. So this feature lets you place up to 100 different objects through Matlab, 4.00 being the work object.

All this COPY-PASTE can be replaced by internal TCP/IP socket data transfer.

I’m attaching this toolbox as well as an example of how to use it (RoKiSim_Demo_Example).

You can finally save your demonstration (6xN or 7xN table) in a .rks.sim file and open it using “Load a Simulation”. There must be an .rks file in the same folder to set the station.